EP1184256A2 - Electrically-driven power steering system having failure detection function - Google Patents

Electrically-driven power steering system having failure detection function Download PDF

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Publication number
EP1184256A2
EP1184256A2 EP01119336A EP01119336A EP1184256A2 EP 1184256 A2 EP1184256 A2 EP 1184256A2 EP 01119336 A EP01119336 A EP 01119336A EP 01119336 A EP01119336 A EP 01119336A EP 1184256 A2 EP1184256 A2 EP 1184256A2
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EP
European Patent Office
Prior art keywords
motor
voltage
detection circuit
failure
terminal voltage
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Granted
Application number
EP01119336A
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German (de)
French (fr)
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EP1184256B1 (en
EP1184256A3 (en
Inventor
Hideki Denso Corporation Amakusa
Atsushi Denso Corporation Sato
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Denso Corp
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Denso Corp
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Publication of EP1184256A3 publication Critical patent/EP1184256A3/en
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Publication of EP1184256B1 publication Critical patent/EP1184256B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults

Definitions

  • the present invention relates to an electrically-driven power steering system for assisting a steering force of a steering wheel by using a motor.
  • U.S. Patent No. 6,094,021 discloses a conventional electrically-driven power steering system including a failure detection circuit for detecting an ON-state failure of field effect transistors (FETs) composing a bridge circuit (motor drive circuit).
  • FETs field effect transistors
  • the failure detection circuit includes high-resistance resistors respectively connected in parallel with each FET, and a voltage detection circuit connected between output terminals of the bridge circuit. A terminal voltage of the motor is detected by the voltage detection circuit when the motor is stopped, and the ON-state failure of the FETs is determined based on the detected voltage.
  • the failure detection circuit performs the failure determination in a state that OFF-signals are respectively applied to each FET (when the motor is stopped), the failure detection circuit cannot detect the ON-state failure of FETs when the motor is driven. Therefore, when the ON-state failure of FETs cannot be overcome in a case that the failure occurs during the control time of driving the motor, a steering wheel rotates by itself, thereby not ensuring safety.
  • the present invention therefore an object to provide an electrically-driven power steering system where an ON-state failure of FETs and a failure of terminals of a motor can be detected even during the control time of driving the motor.
  • a motor control unit includes an abnormality detection circuit for detecting an ON-state failure of field effect transistors and a failure of terminals of a motor.
  • the abnormality detection circuit inputs a motor supply voltage, a motor right-terminal voltage and a motor left-terminal voltage, and detects abnormality by using the following detection logic in comparison with a threshold voltage V1:
  • the ON-state failure of the field effect transistors and the failure of the terminals of the motor can be detected not only when the motor is stopped but also when it is driven.
  • the abnormality detection circuit includes a plurality of threshold values in accordance with the motor supply voltage.
  • the abnormality detection circuit has a threshold value (V1 > 0) in consideration of a detection error due to detection logic variations .
  • V1 > 0 a threshold value
  • a large current flows therein, so that the motor supply voltage is reduced due to wiring resistance.
  • the detection logic is not satisfied even when the circuit fails. Therefore, a plurality of threshold values are set in accordance with the motor supply voltage.
  • an electrically-driven power steering system has a steering wheel 1, a steering shaft 2 and a steering mechanism 2 connected to vehicle wheels.
  • the system also includes a torque sensor 3 for detecting a steering torque generated by the steering shaft 2, a motor 4 for assisting a steering force of the steering wheel 1 by supplying a motive power to the steering mechanism 2a, a motor control unit which comprises a motor drive circuit 7, a microcomputer (CPU) 7 and a motor current detection circuit 10.
  • the CPU 7 is connected to a torwue sensor 3 and a vehicle speed sensor 13.
  • the torque sensor 3, which detects the steering torque T by converting the torque to an electric signal, is composed of a potentiometer, for example. Its output voltage is changed in accordance with the steering torque generated by the steering shaft 2.
  • the motor drive circuit 5 is an H-type bridge circuit composed of four FETs 6 (first FET 6a, second FET 6b, third FET 6c and fourth FET 6d), and drives the motor 4 with pulse-width-modulation (PWM) control in response to a motor drive signal (PWM signal) applied thereto.
  • PWM pulse-width-modulation
  • the motor control unit is composed of the CPU 7, a drive signal output circuit 8, a power supply voltage detection circuit 9, the motor current detection circuit 10, a motor left-terminal voltage detection circuit 11, a motor right terminal voltage detection circuit 12, and the like.
  • the CPU 7 calculates a current command value based on a torque signal T from the torque sensor 3 and a speed signal V from the speed sensor 13. It also operates as an abnormality detection circuit for detecting a failure of the FETs 6 and a failure of terminals of the motor 4.
  • the drive signal output circuit 8 outputs the PWM signal based on the current command value calculated by the CPU 7.
  • the power supply voltage detection circuit 9 detects a voltage supplied to the motor drive circuit 5 from a battery 14, and outputs a voltage signal corresponding to the voltage to the CPU 7.
  • the motor current detection circuit 10 detects a current flowing into the motor 4 using a voltage between both ends of a resistor 15 connected in series with the motor drive circuit 5 at a lower voltage side, and outputs a motor current signal to the CPU 7.
  • the motor left-terminal voltage detection circuit 11 detects a voltage of a motor left-terminal 4a connected to the motor drive circuit 5 (connection point between a source of the first FET 6a and a drain of the third FET 6c), and outputs a voltage signal to the CPU 7.
  • the motor right-terminal voltage detection circuit 12 detects a voltage of a motor right-terminal 4b connected to the motor drive circuit 5 (connection point between a source of the second FET 6b and a drain of the fourth FET 6d), and outputs a voltage signal to the CPU 7.
  • the abnormality detection circuit (CPU 7) described inputs the motor supply voltage, the motor left-terminal voltage and the motor right-terminal voltage from the power supply voltage detection circuit 9, the motor left-terminal voltage detection circuit 11 and the motor right-terminal voltage detection circuit 12, respectively. Then, the abnormality detection circuit determines the failure of the FETs 6a through 6d and the failure of the terminals 4a, 4b of the motor 4 using the following detection logic in comparison with a predetermined threshold value V1:
  • the above detection logic is determined from the motor supply voltage VB, the motor left-terminal voltage Vm1 and the motor right-terminal voltage Vm2 at the normal time.
  • Vm1, Vm2 are generated at voltages more than and less than 6V, respectively, and vice versa. Accordingly, when the motor drive voltage is 2V, 7V appears at the higher voltage terminal, and 5V appears at the lower voltage terminal.
  • the abnormality detection circuit (CPU 7) operates as follows for abnormality detection.
  • this relationship differs from the logic 1 ⁇ , and is determined to be abnormal.
  • this relationship differs from the logic 1 ⁇ , and is determined to be abnormal.
  • this relationship differs from the logic 1 ⁇ , and is determined to be abnormal.
  • the relationship is detected in the same manner as in the above case (3), and is determined to be abnormal.
  • this relationship differs from the logic 1 ⁇ , and is determined to be abnormal.
  • the electrically-driven power steering system can make the abnormality determination using the abnormality detection circuit not only when the motor 4 is stopped but also when the motor 4 is driven, thereby surely detecting the ON-state failure of the FETs 6 and the failure of the terminals 4a, 4b of the motor 4.
  • steering-wheel manipulation can be prevented from being adversely affected due to the abnormality of the FETs 6 or the motor terminals 4a, 4b by stopping the system, thereby ensuring safety.
  • the abnormality detection circuit has a threshold value (V1 > 0) in consideration of a detection error due to detection logic variations.
  • V1 > 0 a threshold value
  • plural threshold values may be set in accordance with the motor supply voltage.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

A CPU (7) operates as an abnormality detection circuit for detecting an ON-state failure of FETS (6, 6a-6d) forming a motor drive circuit (5) and a failure of terminals (4a, 4b) of the motor (4). The abnormality detection circuit inputs a motor supply voltage, a motor left-terminal voltage and a motor right-terminal voltage from a power supply voltage detection circuit (9), a motor left-terminal voltage detection circuit (11) and a motor right-terminal voltage detection circuit (12), respectively. Then, the abnormality detection circuit determines the ON-state failure of the FETs (6) and the failure of the terminals (4a, 4b) of the motor (4) using the following detection logic in comparison with a predetermined threshold value V1: motor supply voltage - motor right-terminal voltage - motor left-terminal voltage > V1.

Description

The present invention relates to an electrically-driven power steering system for assisting a steering force of a steering wheel by using a motor.
U.S. Patent No. 6,094,021 (JP 3034508) discloses a conventional electrically-driven power steering system including a failure detection circuit for detecting an ON-state failure of field effect transistors (FETs) composing a bridge circuit (motor drive circuit).
The failure detection circuit includes high-resistance resistors respectively connected in parallel with each FET, and a voltage detection circuit connected between output terminals of the bridge circuit. A terminal voltage of the motor is detected by the voltage detection circuit when the motor is stopped, and the ON-state failure of the FETs is determined based on the detected voltage.
However, since the failure detection circuit performs the failure determination in a state that OFF-signals are respectively applied to each FET (when the motor is stopped), the failure detection circuit cannot detect the ON-state failure of FETs when the motor is driven. Therefore, when the ON-state failure of FETs cannot be overcome in a case that the failure occurs during the control time of driving the motor, a steering wheel rotates by itself, thereby not ensuring safety.
The present invention therefore an object to provide an electrically-driven power steering system where an ON-state failure of FETs and a failure of terminals of a motor can be detected even during the control time of driving the motor.
According to the present invention, a motor control unit includes an abnormality detection circuit for detecting an ON-state failure of field effect transistors and a failure of terminals of a motor. The abnormality detection circuit inputs a motor supply voltage, a motor right-terminal voltage and a motor left-terminal voltage, and detects abnormality by using the following detection logic in comparison with a threshold voltage V1: |motor supply voltage - motor right-terminal voltage - motor left-terminal voltage| > V1.
According to this construction, the ON-state failure of the field effect transistors and the failure of the terminals of the motor can be detected not only when the motor is stopped but also when it is driven.
The abnormality detection circuit includes a plurality of threshold values in accordance with the motor supply voltage. The abnormality detection circuit has a threshold value (V1 > 0) in consideration of a detection error due to detection logic variations . However, when the circuit fails, a large current flows therein, so that the motor supply voltage is reduced due to wiring resistance. In this case, since the motor supply voltage itself is reduced, it is probable that the detection logic is not satisfied even when the circuit fails. Therefore, a plurality of threshold values are set in accordance with the motor supply voltage.
The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings:
  • FIG. 1 is an entire schematic view showing an electrically-driven power steering system;
  • FIG. 2 is a schematic diagram showing a control system of the electrically-driven power steering system;
  • FIG. 3 is an electric circuit diagram showing a motor drive circuit;
  • FIG. 4 is a graphical representation showing a motor supply voltage and voltages at both terminals of the motor when a motor right-terminal is short-circuited to ground;
  • FIG. 5 is a graphical representation showing the motor supply voltage and the voltages at both terminals of the motor when a fourth FET has an ON-state failure;
  • FIG. 6 is a graphical representation showing the motor supply voltage and the voltages at both terminals of the motor when the motor right-terminal is short-circuited to a power supply and a second FET has an ON-state failure;
  • FIG. 7 is a graphical representation showing the motor supply voltage and the voltages at both terminals of the motor when the motor is stopped; and
  • FIG. 8 is a graphical representation showing the motor supply voltage and the voltages at both terminals of the motor when the motor is stopped and the motor right-terminal is short-circuited to the ground.
    • Next, an embodiment of the present invention will be described with reference to drawings.
    Referring first to FIG. 1, an electrically-driven power steering system has a steering wheel 1, a steering shaft 2 and a steering mechanism 2 connected to vehicle wheels. The system also includes a torque sensor 3 for detecting a steering torque generated by the steering shaft 2, a motor 4 for assisting a steering force of the steering wheel 1 by supplying a motive power to the steering mechanism 2a, a motor control unit which comprises a motor drive circuit 7, a microcomputer (CPU) 7 and a motor current detection circuit 10. The CPU 7 is connected to a torwue sensor 3 and a vehicle speed sensor 13. The torque sensor 3, which detects the steering torque T by converting the torque to an electric signal, is composed of a potentiometer, for example. Its output voltage is changed in accordance with the steering torque generated by the steering shaft 2.
    As shown in FIG. 2, the motor drive circuit 5 is an H-type bridge circuit composed of four FETs 6 (first FET 6a, second FET 6b, third FET 6c and fourth FET 6d), and drives the motor 4 with pulse-width-modulation (PWM) control in response to a motor drive signal (PWM signal) applied thereto.
    The motor control unit is composed of the CPU 7, a drive signal output circuit 8, a power supply voltage detection circuit 9, the motor current detection circuit 10, a motor left-terminal voltage detection circuit 11, a motor right terminal voltage detection circuit 12, and the like.
    The CPU 7 calculates a current command value based on a torque signal T from the torque sensor 3 and a speed signal V from the speed sensor 13. It also operates as an abnormality detection circuit for detecting a failure of the FETs 6 and a failure of terminals of the motor 4.
    The drive signal output circuit 8 outputs the PWM signal based on the current command value calculated by the CPU 7. The power supply voltage detection circuit 9 detects a voltage supplied to the motor drive circuit 5 from a battery 14, and outputs a voltage signal corresponding to the voltage to the CPU 7.
    The motor current detection circuit 10 detects a current flowing into the motor 4 using a voltage between both ends of a resistor 15 connected in series with the motor drive circuit 5 at a lower voltage side, and outputs a motor current signal to the CPU 7.
    The motor left-terminal voltage detection circuit 11 detects a voltage of a motor left-terminal 4a connected to the motor drive circuit 5 (connection point between a source of the first FET 6a and a drain of the third FET 6c), and outputs a voltage signal to the CPU 7. The motor right-terminal voltage detection circuit 12 detects a voltage of a motor right-terminal 4b connected to the motor drive circuit 5 (connection point between a source of the second FET 6b and a drain of the fourth FET 6d), and outputs a voltage signal to the CPU 7.
    The abnormality detection circuit (CPU 7) described inputs the motor supply voltage, the motor left-terminal voltage and the motor right-terminal voltage from the power supply voltage detection circuit 9, the motor left-terminal voltage detection circuit 11 and the motor right-terminal voltage detection circuit 12, respectively. Then, the abnormality detection circuit determines the failure of the FETs 6a through 6d and the failure of the terminals 4a, 4b of the motor 4 using the following detection logic in comparison with a predetermined threshold value V1: |motor supply voltage - motor right-terminal voltage - motor left-terminal voltage > V1.
    The above detection logic is determined from the motor supply voltage VB, the motor left-terminal voltage Vm1 and the motor right-terminal voltage Vm2 at the normal time.
    When the motor 4 is driven, voltages Vm1, Vm2 corresponding to the motor drive voltage are generated at both terminals of the motor 4 , respectively, in accordance with VB (power supply voltage) in a circuit configuration shown in FIG. 3.
    When VB = 12V (volts), for example, the voltages Vm1, Vm2 are generated at voltages more than and less than 6V, respectively, and vice versa. Accordingly, when the motor drive voltage is 2V, 7V appears at the higher voltage terminal, and 5V appears at the lower voltage terminal.
    If the following logic is used based on this relationship, the failure of the FETs 6 and the failure of the terminals 4a, 4b of the motor 4 can be detected. |motor supply voltage - Vm1 - Vm2 | ≒ 0 volt   1
    When the motor 4 is stopped, voltages Vm1, Vm2 divided by resistors R1, R2 (resistance value of R1 = resistance value of R2) are generated at both terminals of the motor, respectively, in accordance with the power supply voltage VB in a circuit configuration shown in FIG. 3. When VB = 12V, for example, the voltages Vm1, Vm2 become 6V in a case that a motor resistance value is within its variations.
    If the following logic is used based on this relationship, the failure of the FETs 6 and the failure of the terminals 4a, 4b of the motor 4 can be detected: |motor supply voltage - Vm1 - Vm2 | ≒ 0V.
    The abnormality detection circuit (CPU 7) operates as follows for abnormality detection.
    (1) When the motor right-terminal 4b is short-circuited to ground (GND"):
    As shown in FIG. 4, since the voltage Vm2 at the motor right-terminal 4b becomes nearly equal to the voltage at the GND irrespective of the motor supply voltage, the relationship among the motor supply voltage, the motor right-terminal voltage Vm2 and the motor left-terminal voltage Vm1 becomes as follows: |12V - 7V - 0V| > 0V.
    Therefore, this relationship differs from the logic 1 ○, and is determined to be abnormal.
    (2) When the fourth FET 6d has the ON-state failure:
    As shown in FIG. 5, since the voltages Vm1, Vm2 at both terminals 4a, 4b of the motor 4 become nearly equal to the voltage at the GND irrespective of the motor supply voltage, the relationship among the motor supply voltage, the motor right-terminal voltage Vm2 and the motor left-terminal voltage Vm1 becomes as follows: |12V - 0V - 0V| > 0V.
    Therefore, this relationship differs from the logic 1 ○, and is determined to be abnormal.
    (3) When the motor right-terminal 4b is short-circuited to the motor power supply:
    As shown in FIG. 6, since the voltages Vm1, Vm2 at both terminals 4a, 4b of the motor 4 become nearly equal to the voltage at the motor power supply in accordance with the motor supply voltage, the relationship among the motor supply voltage, the motor right-terminal voltage Vm2 and the motor left-terminal voltage Vm1 becomes as follows: |12V - 12V - 12V| > 0 volt.
    Therefore, this relationship differs from the logic 1 ○, and is determined to be abnormal.
    (4) When the second FET 6b has the ON-state failure:
    The relationship is detected in the same manner as in the above case (3), and is determined to be abnormal.
    (5) When the motor is stopped at the normal time:
    Since the voltages at both terminals 4a, 4b of the motor 4 become as shown in FIG. 7, the relationship becomes as follows: | 12V - 6V - 6V| = 0V.
    Therefore, this relationship satisfies the logic 1 ○.
    (6) When the motor is stopped and the motor right-terminal 4b is short-circuited to the GND (ON-state failure of the fourth FET 6d):
    As shown in FIG. 8, since the voltages Vm1, Vm2 at both terminals 4a, 4b of the motor 4 become nearly equal to the voltage at the GND irrespective of the motor supply voltage, the relationship among the motor supply voltage, the motor right-terminal voltage Vm2 and the motor left-terminal voltage Vm1 becomes as follows: 12V - 0V - 0V > 0V.
    Therefore, this relationship differs from the logic 1 ○, and is determined to be abnormal.
    The electrically-driven power steering system according to the present embodiment can make the abnormality determination using the abnormality detection circuit not only when the motor 4 is stopped but also when the motor 4 is driven, thereby surely detecting the ON-state failure of the FETs 6 and the failure of the terminals 4a, 4b of the motor 4.
    Further, when the abnormality state is continuously detected for a predetermined time, steering-wheel manipulation can be prevented from being adversely affected due to the abnormality of the FETs 6 or the motor terminals 4a, 4b by stopping the system, thereby ensuring safety.
    The abnormality detection circuit has a threshold value (V1 > 0) in consideration of a detection error due to detection logic variations. However, when the circuit fails, a large current flows therein, so that the motor supply voltage is reduced due to wiring resistance. In this case, since the motor supply voltage itself is reduced, it is likely that the detection logic is not satisfied even when the circuit fails. Therefore, plural threshold values may be set in accordance with the motor supply voltage.

    Claims (2)

    1. An electrically-driven power steering system comprising:
      a motor (4) for assisting a steering force of a steering wheel (1) by supplying motive power to a steering mechanism (2a) of the steering wheel (1);
      a motor drive circuit (5) including at least four field effect transistors (6, 6a-6d) forming a bridge circuit, for driving the motor in accordance with an ON/OFF state of each field effect transistor (6a-6d); and
      a motor control unit (7) for controlling an operation of the motor (4) through the motor drive circuit (5),
         wherein the motor control unit (7) includes an abnormality detection circuit (7) for detecting an ON-state failure of the field effect transistors (6a-6d) and a failure of terminals (4a, 4b) of the motor (4); and
         the abnormality detection circuit (7) inputs a motor supply voltage, a motor right-terminal voltage (Vm2) and a motor left-terminal voltage (Vm1), and makes an abnormality detection using the following detection logic in comparison with a threshold voltage (V1), |motor supply voltage - motor right-terminal voltage (Vm2) - motor left-terminal voltage (Vm1)| > V1.
    2. The electrically-driven power steering system according to claim 1, wherein:
      the abnormality detection circuit (7) includes a plurality of threshold values in accordance with the motor supply voltage.
    EP01119336A 2000-08-28 2001-08-10 Electrically-driven power steering system having failure detection function Expired - Lifetime EP1184256B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    JP2000256659A JP2002067985A (en) 2000-08-28 2000-08-28 Motor-driven power steering device
    JP2000256659 2000-08-28

    Publications (3)

    Publication Number Publication Date
    EP1184256A2 true EP1184256A2 (en) 2002-03-06
    EP1184256A3 EP1184256A3 (en) 2002-12-18
    EP1184256B1 EP1184256B1 (en) 2004-03-31

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    EP01119336A Expired - Lifetime EP1184256B1 (en) 2000-08-28 2001-08-10 Electrically-driven power steering system having failure detection function

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    US (1) US20020024317A1 (en)
    EP (1) EP1184256B1 (en)
    JP (1) JP2002067985A (en)
    CA (1) CA2355019C (en)
    DE (1) DE60102528T2 (en)
    ES (1) ES2217067T3 (en)

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    CN109229200A (en) * 2018-09-10 2019-01-18 东南大学 A kind of general steering system of unmanned equation motorcycle race and control method
    WO2020084128A1 (en) * 2018-10-26 2020-04-30 Continental Automotive France Method for supplying an inductive load

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    JP2003175850A (en) * 2001-12-13 2003-06-24 Toyoda Mach Works Ltd Control device for motorized power steering system
    JP4296495B2 (en) * 2004-02-03 2009-07-15 株式会社デンソー Electric power steering device
    JP4628825B2 (en) * 2005-03-11 2011-02-09 本田技研工業株式会社 Vehicle steering system
    JP4830337B2 (en) * 2005-04-26 2011-12-07 日産自動車株式会社 Electric motor control device and fault diagnosis method thereof
    JP2006320176A (en) * 2005-05-16 2006-11-24 Hitachi Ltd Method and device for diagnosing inverter
    JP2007060762A (en) * 2005-08-23 2007-03-08 Mitsubishi Electric Corp Device for detecting fault of load driving system
    SG130957A1 (en) * 2005-09-15 2007-04-26 St Microelectronics Asia An electrical isolation circuit for preventing current flow from an electrical application to a dc power source
    JP4667234B2 (en) * 2005-12-27 2011-04-06 ダイハツ工業株式会社 Detection device for pre-crash seat belt device
    JP5092509B2 (en) * 2007-04-09 2012-12-05 株式会社ジェイテクト Electric power steering device
    EP2445768B1 (en) * 2009-06-22 2020-04-29 Volvo Truck Corporation Method for damping electromechanical oscillations in an electromechanical system and oscillation damping system for employing such method
    KR20120011017A (en) * 2009-06-22 2012-02-06 미쓰비시덴키 가부시키가이샤 Motor drive apparatus
    JP5990455B2 (en) * 2012-03-14 2016-09-14 株式会社東海理化電機製作所 Electric steering lock device

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    EP0800979A2 (en) * 1996-04-11 1997-10-15 Mitsubishi Denki Kabushiki Kaisha Electric motor driving apparatus
    US6094021A (en) * 1998-11-12 2000-07-25 Honda Giken Kogyo Kabushiki Kaisha Motor drive apparatus

    Patent Citations (2)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    EP0800979A2 (en) * 1996-04-11 1997-10-15 Mitsubishi Denki Kabushiki Kaisha Electric motor driving apparatus
    US6094021A (en) * 1998-11-12 2000-07-25 Honda Giken Kogyo Kabushiki Kaisha Motor drive apparatus

    Cited By (4)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    CN109229200A (en) * 2018-09-10 2019-01-18 东南大学 A kind of general steering system of unmanned equation motorcycle race and control method
    WO2020084128A1 (en) * 2018-10-26 2020-04-30 Continental Automotive France Method for supplying an inductive load
    FR3087897A1 (en) * 2018-10-26 2020-05-01 Continental Automotive France METHOD FOR SUPPLYING AN INDUCTIVE LOAD
    US11942778B2 (en) 2018-10-26 2024-03-26 Vitesco Technologies GmbH Method for supplying an inductive load

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    Publication number Publication date
    DE60102528D1 (en) 2004-05-06
    US20020024317A1 (en) 2002-02-28
    CA2355019C (en) 2005-05-24
    JP2002067985A (en) 2002-03-08
    CA2355019A1 (en) 2002-02-28
    ES2217067T3 (en) 2004-11-01
    DE60102528T2 (en) 2005-01-05
    EP1184256B1 (en) 2004-03-31
    EP1184256A3 (en) 2002-12-18

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